CN104503473A - Inertial stabilization controller - Google Patents
Inertial stabilization controller Download PDFInfo
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- CN104503473A CN104503473A CN201410659221.XA CN201410659221A CN104503473A CN 104503473 A CN104503473 A CN 104503473A CN 201410659221 A CN201410659221 A CN 201410659221A CN 104503473 A CN104503473 A CN 104503473A
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Abstract
The invention discloses an inertial stabilization controller. The inertial stabilization controller comprises a main control module, an orientation motor driving module, a pitching motor driving module, a roll motor driving module, a rate gyro acquisition module, an angular position acquisition module, a data storage module, a serial port expansion module, a management control module, an inertial navigation module and a secondary power source module. The inertial stabilization controller integrates functions of driving, acquisition, storage, communication and synchronization into one body and greatly ameliorates a problem of single function of an inertial stabilization controller in the prior art. The inertial stabilization controller can eliminate influence of high carrier aircraft and low frequency disturbance on pendular or tracking imaging systems, is applicable to a single-axis, two-axis or three-axis inertial stabilization platform, has a wide application scope and is successfully applied to multiple models of aviation optical remote sensors.
Description
Technical field
The present invention relates to a kind of multiaxis multifunction high-precision stable inertia controller, belong to aviation optical remote sensing technology field.
Background technology
In airborne remote sensing field, imaging system is often subject to external disturbance, as the vibration etc. of wind speed, aircraft, image quality all can be caused greatly to reduce.For ensureing image stabilization in inertial space, a kind of universal stable inertia controller is proposed.Controller many employings single shaft in the past or the rock-steady structure of twin shaft, namely control the optical axis along two rotational freedoms orthogonal while of mutually orthogonal with the optical axis to move, and keep optic central extract, but this two axis stable platform have ignored the disturbance of the 3rd axis of orientation, external environmental interference can only be applied to little, in the less demanding situation of image quality, if under rugged environment, require higher to image quality, we necessarily require that three axis of orientations are stablized at inertial space.Current motor controller is comparatively ripe, but it is also immature to the motor driver of inertial space in airborne remote sensing field, especially less for multiaxis, multisensor, multi-functional driver, remain in following problem: (1) is different according to the requirement of index, the actuator selected, sensor and quantity etc. are all uncertain, need to configure different driver modules and acquisition module for disparity items; (2) versatility and inheritance poor, cannot compatible sensors be digital or analog, be unfavorable for the replacing of sensor.
Summary of the invention
Technology of the present invention is dealt with problems and is: overcome the deficiencies in the prior art, provides a kind of stable inertia controller, realizes stable inertia and controls, be applicable to multiaxis, multi-functional, high-precision control system, have stronger versatility.
Technical solution of the present invention is: a kind of stable inertia controller, and described stable inertia controller is mounted on carrier, for controlling the stable of inertial platform on carrier; Comprise main control module, azimuth-drive motor driver module, pitching motor driver module, roll motor drive module, rate gyro acquisition module, Angle Position acquisition module, data memory module, serial ports expansion module, management control module, inertial navigation module and secondary power supply module;
Inertial navigation module gathers the course angle of carrier relative to inertial space, and exports to main control module;
Management control module received the carrier flight-path angle of host computer setting before carrier runs, and gathers the actual flight path angle of carrier relative to inertial space, and these two kinds of flight-path angles are all exported to main control module by serial ports expansion module in carrier operational process;
Angle Position acquisition module gathers inertial platform azimuth axis and carrier azimuth axis, inertial platform pitch axis and carrier pitch axis, angle between inertial platform roll axle and carrier roll axle respectively in carrier operational process, and exports to main control module after the angle collected is carried out angle to digital conversion;
Rate gyro module gathers the azimuth axis of inertial platform, pitch axis and the roll axle angular speed relative to inertial space respectively in carrier operational process, and exports to main control module by serial ports expansion module;
Data memory module is used for the controling parameters of store directions motor drive module, pitching motor driver module and roll motor drive module, reads when system initialization for main control module;
Main control module is according to the course angle of carrier relative to inertial space, flight-path angle, angle between inertial platform azimuth axis and carrier azimuth axis, angle between inertial platform pitch axis and carrier pitch axis and the angle calcu-lation between inertial platform roll axle and carrier roll axle obtain the position angle signal of each axle of inertial platform relative to inertial space, each axle of the inertial platform that association rate gyroscope modules collects is relative to the angular speed of inertial space, obtain inertial platform azimuth axis, the pulse control signal of pitch axis and roll axle, and by inertial platform azimuth axis, the pulse control signal of pitch axis and roll axle and export to azimuth-drive motor driver module respectively from the controling parameters that data memory module reads, pitching motor driver module and roll motor drive module, described flight-path angle is that the carrier flight-path angle of host computer setting or carrier are relative to the actual flight path angle of inertial space,
Azimuth-drive motor driver module, pitching motor driver module and roll motor drive module produce azimuth-drive motor steering order, pitching motor steering order and the instruction of roll Electric Machine Control according to the pulse control signal received and controling parameters respectively, for driving inertial platform upper position motor, pitching motor and roll motor to rotate, thus realize the stability contorting to inertial platform;
Secondary power supply module is changed the voltage that external power source provides, and is respectively main control module, rate gyro acquisition module, Angle Position acquisition module, azimuth-drive motor driver module, pitching motor driver module and roll motor drive module and powers.
The implementation that described main control module obtains the pulse control signal of inertial platform azimuth axis, pitch axis and roll axle is:
(2.1) carrier is made difference relative to the course angle of inertial space and flight-path angle and is obtained the crab angle of carrier relative to inertial space by main control module;
(2.2) crab angle that step (2.1) obtains is decomposed into carrier azimuth axis, pitch axis and the roll axle crab angle relative to inertial space;
(2.3) each axle of carrier step (2.2) obtained respectively is made difference relative to the angle between the crab angle of inertial space axle corresponding to carrier the inertial platform that Angle Position acquisition module collects and is obtained the position angle signal of each axle of inertial platform relative to inertial space;
(2.4) the position angle signal derivation that step (2.3) obtains is obtained the angular speed value of each axle of inertial platform relative to inertial space;
(2.5) each axle of inertial platform obtained relative to angular speed value and the rate gyro module acquires of inertial space according to each axle of inertial platform in step (2.4), relative to the angular speed of inertial space, obtains the angular speed offset of each axle of inertial platform relative to inertial space;
(2.6) the angular speed offset that obtains according to step (2.5) of main control module, obtains the pulse control signal of inertial platform azimuth axis, pitch axis and roll axle by lead-lag control algolithm.
Described stable inertia controller is fixedly mounted on carrier by inertial navigation module, and after installing, the X-axis of inertial navigation module points to carrier pilothouse, Y-axis vertical carrier, Z axis vertical ground.
Described main control module comprises two-way communication interface, wherein a road and inertial navigation module communication, and another road is for subsequent use; Main control module obtains four road communication interfaces by the expansion of serial ports expansion module simultaneously, and wherein a road and management control module carry out communication, and another three tunnels and rate gyro acquisition module carry out communication.
Described azimuth-drive motor driver module, pitching motor driver module and roll motor drive module all adopt chip L6205 to realize, can drive voltage range be the direct current generator of 2.8A at 8V ~ 52V, electric current, comprise direct current torque motor, direct current voice coil motor, DC servo motor and DC stepper motor.
Described Angle Position acquisition module compatible multi-channel rotary transformer and photoelectric code disk.
The compatible A/D conversion of described rate gyro module and digital serial ports two kinds of patterns.
The present invention's beneficial effect is compared with prior art:
(1) current stable inertia controller is only applicable to that numeral or analog input, communication interface are limited, function singleness, the main control module of this controller extends the interface of main control module by serial ports expansion module, Angle Position acquisition module and rate gyro acquisition module all extend interface simultaneously, have compatible strong, interface is many, the features such as good stability, are applicable to the multiple imaging system of sweep type, directional type and tracking mode;
(2) traditional stability controller adopts a controller to drive a motor, finally by a management circuit, each controller is connected, this controller can drive three direct current generators by three kinds of driver modules simultaneously, gather three road Angle Position and angular rate information simultaneously, the function that three axles control can be realized;
(3) the present invention adopts motor drive module, can realize the direct current generator of voltage range 8V ~ 52V, continuous current 2.8A, and wherein direct current generator comprises torque motor, voice coil motor, servomotor and stepper motor.Compared with current stable inertia controller, driving power is large, is suitable for wide range of motors;
(4) interface of rate gyro module compatible analog voltage of the present invention and digital communication, Angle Position acquisition module compatible multi-channel rotary transformer and photoelectric code disk signal, compared with current stable inertia controller, have stronger universal performance.
Accompanying drawing explanation
Fig. 1 is present system block diagram;
Fig. 2 is the control realization block diagram of main control module.
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is further described in detail:
Stable inertia controller and inertial platform are all mounted on carrier, and stable inertia controller is for controlling the stable of inertial platform on carrier.Fig. 1 is the system chart of stable inertia controller of the present invention, comprises main control module, azimuth-drive motor driver module, pitching motor driver module, roll motor drive module, rate gyro acquisition module, Angle Position acquisition module, E
2pROM data memory module, serial ports expansion module, management control module, inertial navigation module and secondary power supply module.
Inertial navigation module is fixedly connected on carrier by four installing ports, and after installing, the X-axis of inertial navigation module points to carrier pilothouse, Y-axis vertical carrier, Z axis vertical ground.Inertial navigation module gathers the course angle of carrier relative to inertial space, and exports to main control module.
Management control module received the carrier flight-path angle of host computer setting before carrier runs, and in carrier operational process, gather the actual flight path angle of carrier relative to inertial space, and these two kinds of flight-path angles are all exported to main control module by serial ports expansion module.
Angle Position acquisition module compatibility is resolved the chip H2S44 of rotary transformer and resolves the A/D chip AD9240 of 14 of photoelectric code disk, in carrier operational process, gather inertial platform azimuth axis and carrier azimuth axis, inertial platform pitch axis and carrier pitch axis, angle between inertial platform roll axle and carrier roll axle respectively, and export to main control module after the angle collected is carried out angle to digital conversion.
The A/D chip AD9240 that rate gyro module is compatible 14 and digital RS422 communication interface, in carrier operational process, gather the azimuth axis of inertial platform, pitch axis and the roll axle angular speed relative to inertial space respectively, and export to main control module by serial ports expansion module.
Data memory module passes through E
2pROM realizes, and for the controling parameters of store directions motor drive module, pitching motor driver module and roll motor drive module, reads controling parameters drive three spindle motors during system initialization for main control module.
Main control module obtains 4 road RS422 communication interfaces of expansion by serial ports expansion module TL16C554 and the AM26LS31/32 interface chip meeting standard RS-422 electric interfaces agreement, main control module itself possesses two-way communication interface, one tunnel and inertial navigation module communication, another road is as subsequent use; Four road communication interfaces of expansion, a road and management control module carry out communication, and another three tunnels receive digital rate gyro signal.
Main control module is according to the course angle of carrier relative to inertial space, flight-path angle, angle between inertial platform azimuth axis and carrier azimuth axis, angle between inertial platform pitch axis and carrier pitch axis and the angle calcu-lation between inertial platform roll axle and carrier roll axle obtain the position angle signal of each axle of inertial platform relative to inertial space, each axle of the inertial platform that association rate gyroscope modules collects is relative to the angular speed of inertial space, obtain inertial platform azimuth axis, the pulse control signal of pitch axis and roll axle, and by inertial platform azimuth axis, the pulse control signal of pitch axis and roll axle and from E
2the controling parameters that PROM reads exports to azimuth-drive motor driver module, pitching motor driver module and roll motor drive module respectively, described flight-path angle is that the carrier flight-path angle of host computer setting or carrier are relative to the actual flight path angle of inertial space.
The pulse control signal specific implementation obtaining inertial platform azimuth axis, pitch axis and roll axle is:
(1) carrier is made difference relative to the course angle of inertial space and flight-path angle and is obtained the crab angle of carrier relative to inertial space by main control module;
(2) crab angle that step (1) obtains is decomposed into carrier azimuth axis, pitch axis and the roll axle crab angle relative to inertial space;
(3) each axle of carrier step (2) obtained respectively is made difference relative to the angle between the crab angle of inertial space axle corresponding to carrier the inertial platform that Angle Position acquisition module collects and is obtained the position angle signal of each axle of inertial platform relative to inertial space;
(4) the position angle signal derivation that step (3) obtains is obtained the angular speed value of each axle of inertial platform relative to inertial space;
(5) each axle of inertial platform obtained relative to angular speed value and the rate gyro module acquires of inertial space according to each axle of inertial platform in step (4), relative to the angular speed of inertial space, obtains the angular speed offset of each axle of inertial platform relative to inertial space;
(6) the angular speed offset that obtains according to step (5) of main control module, obtains the pulse control signal of inertial platform azimuth axis, pitch axis and roll axle by lead-lag control algolithm.
Azimuth-drive motor driver module, pitching motor driver module and roll motor drive module drive inertial platform upper position motor, pitching motor and roll motor to rotate according to the pulse control signal received respectively, thus realize the stability contorting to inertial platform;
Secondary power supply module is changed the voltage that external power source provides, and is respectively main control module, rate gyro acquisition module, Angle Position acquisition module, azimuth-drive motor driver module, pitching motor driver module and roll motor drive module and powers.Secondary power supply module through conversion after, for main control module provides the voltage of 3.3V and 1.8V, for rate gyro acquisition module provides the voltage of 5V, for Angle Position acquisition module provides the voltage of 12V, for motor drive module provides the voltage of 8V ~ 52V.
Motor drive module adopts chip L6205 to realize, can drive voltage range between 8V ~ 52V, the direct current generator (direct current torque motor, direct current voice coil motor, DC servo motor and DC stepper motor) of continuous current 2.8A; The compatible A/D conversion of rate gyro acquisition module and digital serial ports two kinds of patterns; Angle Position acquisition module compatible multi-channel rotary transformer and photoelectric code disk; Data memory module can realize the memory function of 1M data; Communication interface comprises 1 road RS232 and 4 road RS422, can realize respectively and inertial navigation module, rate gyro acquisition module and management control module.
Main control module through-rate gyroscope modules of the present invention and Angle Position acquisition module complete the collection of angular speed and angle signal; Secondly, receiving management control module and inertial navigation module command signal, and the key parameter in controling parameters and communication is stored in E
2in PROM; Finally, the parameter that main control module gathers, controls direct current generator by DC motor Driver module, forms complete close loop control circuit, realize stable inertia controlling functions.
The present invention meets airborne remote sensing field and is suitable for three axle stable inertias and compatible with digital and analog input, possesses versatility.Mainly solve the disturbance of carrier aircraft high and low frequency to the impact of image quality.This controller is applicable to the inertially stabilized platform of single shaft, diaxon or three axles, the Multifunctional imagings (realizing above-mentioned sweeping, point and track towards function according to the command request of management control module) such as sweep type, directional type and tracking mode can be realized, adopt rate gyro greatly to improve inertia control accuracy as rate detection device.
Fig. 2 is the control block diagram of main control module, due in carrier aircraft flight course, by the impact of environmental baseline with other factors, can not remain smooth flight.Taking photo by plane, in tracing process, image quality is had a huge impact, therefore proposes the control mode adopting the many frameworks of multiaxis.First attitude information is obtained by Airborne Inertial navigation module, command information is obtained by management control module, and by the two information as echo signal, using the angle information of Angle Position acquisition module reception as feedback angle, above-mentioned information is done poor process and obtain angular error signal; Secondly, angular error signal obtains the input signal of speed ring after the position ring correction link process in main control module, and through-rate gyro reads inertial space angle rate signal, the two information is done poor process and obtains rate error signal; Finally, the signal that speed error signal obtains after the speed ring correction link process in main control chip, by reading the controling parameters stored in memory module, calculated by the control algolithm of lead-lag, output pwm signal is to power amplifier, and then control motor and rotate, realize taking photo by plane or the function such as tracking.
Apply the present invention to sweep type stable platform, wide visual field information can be obtained within effective time and there is the function of IMC.
The present invention integrates driving, collection, storage, communication, has following function:
(1) there is multi-channel data acquisition function: by serial port extended chip TL16C554, be 6 tunnels by original 2 tunnel communication serial ports expansion, can the communication modes such as RS422 and RS232 be adopted, with communications such as host computer, management and control circuit or data acquisition modules;
(2) there is multi-axle motor and drive function simultaneously: can two-axis synchronization control be realized for sweeping imaging system, maximum three axle synchro control can be realized for diaxon or three axle gondolas;
(3) have multifunctional inertia stability contorting: sweeping imaging system scans precision can reach 5 ‰, video tracking precision can reach 15 μ rad, and track precision can reach 20 μ rad;
(4) can drive voltage range be the direct current generator of 8V ~ 52V, continuous current 2.8A, comprise direct current torque motor, direct current voice coil motor, DC servo motor and DC stepper motor and control;
(5) can acquisition angle position signalling, compatible multi-channel rotary transformer and photoelectric code disk signal;
(6) can acquisition rate gyro signal, compatible with digital and modulating output.
Controller of the present invention realizes inertial space by acquisition rate gyro information and stablizes, thus can eliminate because the disturbance of carrier aircraft high and low frequency is on sweeping or the impact following the tracks of the systems such as imaging; By gathering the angle information between inertial platform axle corresponding to carrier, angleonly tracking can be realized; Consider the triaxiality of aircraft disturbance, the drived control of single shaft or diaxon all can cause top problem (axle lost efficacy), therefore proposes to adopt maximum three axles to control, but is also applicable to the inertially stabilized platform of single shaft, diaxon or three axles simultaneously.
The content be not described in detail in instructions of the present invention belongs to the known technology of professional and technical personnel in the field.
Claims (7)
1. a stable inertia controller, described stable inertia controller is mounted on carrier, for controlling the stable of inertial platform on carrier; It is characterized in that: comprise main control module, azimuth-drive motor driver module, pitching motor driver module, roll motor drive module, rate gyro acquisition module, Angle Position acquisition module, data memory module, serial ports expansion module, management control module, inertial navigation module and secondary power supply module;
Inertial navigation module gathers the course angle of carrier relative to inertial space, and exports to main control module;
Management control module received the carrier flight-path angle of host computer setting before carrier runs, and gathers the actual flight path angle of carrier relative to inertial space, and these two kinds of flight-path angles are all exported to main control module by serial ports expansion module in carrier operational process;
Angle Position acquisition module gathers inertial platform azimuth axis and carrier azimuth axis, inertial platform pitch axis and carrier pitch axis, angle between inertial platform roll axle and carrier roll axle respectively in carrier operational process, and exports to main control module after the angle collected is carried out angle to digital conversion;
Rate gyro module gathers the azimuth axis of inertial platform, pitch axis and the roll axle angular speed relative to inertial space respectively in carrier operational process, and exports to main control module by serial ports expansion module;
Data memory module is used for the controling parameters of store directions motor drive module, pitching motor driver module and roll motor drive module, reads when system initialization for main control module;
Main control module is according to the course angle of carrier relative to inertial space, flight-path angle, angle between inertial platform azimuth axis and carrier azimuth axis, angle between inertial platform pitch axis and carrier pitch axis and the angle calcu-lation between inertial platform roll axle and carrier roll axle obtain the position angle signal of each axle of inertial platform relative to inertial space, each axle of the inertial platform that association rate gyroscope modules collects is relative to the angular speed of inertial space, obtain inertial platform azimuth axis, the pulse control signal of pitch axis and roll axle, and by inertial platform azimuth axis, the pulse control signal of pitch axis and roll axle and export to azimuth-drive motor driver module respectively from the controling parameters that data memory module reads, pitching motor driver module and roll motor drive module, described flight-path angle is that the carrier flight-path angle of host computer setting or carrier are relative to the actual flight path angle of inertial space,
Azimuth-drive motor driver module, pitching motor driver module and roll motor drive module produce azimuth-drive motor steering order, pitching motor steering order and the instruction of roll Electric Machine Control according to the pulse control signal received and controling parameters respectively, for driving inertial platform upper position motor, pitching motor and roll motor to rotate, thus realize the stability contorting to inertial platform;
Secondary power supply module is changed the voltage that external power source provides, and is respectively main control module, rate gyro acquisition module, Angle Position acquisition module, azimuth-drive motor driver module, pitching motor driver module and roll motor drive module and powers.
2. a kind of stable inertia controller according to claim 1, is characterized in that: the implementation that described main control module obtains the pulse control signal of inertial platform azimuth axis, pitch axis and roll axle is:
(2.1) carrier is made difference relative to the course angle of inertial space and flight-path angle and is obtained the crab angle of carrier relative to inertial space by main control module;
(2.2) crab angle that step (2.1) obtains is decomposed into carrier azimuth axis, pitch axis and the roll axle crab angle relative to inertial space;
(2.3) each axle of carrier step (2.2) obtained respectively is made difference relative to the angle between the crab angle of inertial space axle corresponding to carrier the inertial platform that Angle Position acquisition module collects and is obtained the position angle signal of each axle of inertial platform relative to inertial space;
(2.4) the position angle signal derivation that step (2.3) obtains is obtained the angular speed value of each axle of inertial platform relative to inertial space;
(2.5) each axle of inertial platform obtained relative to angular speed value and the rate gyro module acquires of inertial space according to each axle of inertial platform in step (2.4), relative to the angular speed of inertial space, obtains the angular speed offset of each axle of inertial platform relative to inertial space;
(2.6) the angular speed offset that obtains according to step (2.5) of main control module, obtains the pulse control signal of inertial platform azimuth axis, pitch axis and roll axle by lead-lag control algolithm.
3. a kind of stable inertia controller according to claim 1, it is characterized in that: described stable inertia controller is fixedly mounted on carrier by inertial navigation module, and after installing, the X-axis of inertial navigation module points to carrier pilothouse, Y-axis vertical carrier, Z axis vertical ground.
4. a kind of stable inertia controller according to claim 1, is characterized in that: described main control module comprises two-way communication interface, wherein a road and inertial navigation module communication, and another road is for subsequent use; Main control module obtains four road communication interfaces by the expansion of serial ports expansion module simultaneously, and wherein a road and management control module carry out communication, and another three tunnels and rate gyro acquisition module carry out communication.
5. a kind of stable inertia controller according to claim 1, it is characterized in that: described azimuth-drive motor driver module, pitching motor driver module and roll motor drive module all adopt chip L6205 to realize, can drive voltage range be the direct current generator of 2.8A at 8V ~ 52V, electric current, comprise direct current torque motor, direct current voice coil motor, DC servo motor and DC stepper motor.
6. a kind of stable inertia controller according to claim 1, is characterized in that: described Angle Position acquisition module compatible multi-channel rotary transformer and photoelectric code disk.
7. a kind of stable inertia controller according to claim 1, is characterized in that: the compatible A/D conversion of described rate gyro module and digital serial ports two kinds of patterns.
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| CN107607128B (en) * | 2017-08-31 | 2021-06-08 | 天津航天中为数据***科技有限公司 | Method for compensating aiming line precision of two-axis two-frame stable platform |
| CN112416023A (en) * | 2020-11-04 | 2021-02-26 | 上海莘汭驱动技术有限公司 | Inertial image stabilization control system based on angle measurement |
| CN112416023B (en) * | 2020-11-04 | 2022-05-17 | 上海莘汭驱动技术有限公司 | Inertial image stabilization control system based on angle measurement |
| CN114488955A (en) * | 2021-12-27 | 2022-05-13 | 北京遥测技术研究所 | Multi-axis driving control device |
| CN114488955B (en) * | 2021-12-27 | 2023-07-04 | 北京遥测技术研究所 | Multi-shaft driving control device |
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| CN104503473B (en) | 2017-01-18 |
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